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   <div id="projectname">DM-CtrlH7-BF-DevProgram<span id="projectnumber">&#160;beta 0.1</span>
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   <div id="projectbrief">C.ONE Studio Damiao Development Board Framework</div>
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  <div class="headertitle"><div class="title">remote </div></div>
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<div class="textblock"><p>remote_control </p><div class="fragment"><div class="line">/*************************发射机DT7***************************</div>
<div class="line"> *                                                            *</div>
<div class="line"> *   -----------------------------------------------------    *</div>
<div class="line"> *   |     (上-1)                               (上-1)   |    *</div>
<div class="line"> *   |SW_L|(中-3)                          SW_R|(中-3)   |    *</div>
<div class="line"> *   |     (下-2)                               (下-2)   |    *</div>
<div class="line"> *   |                                                   |    *</div>
<div class="line"> *   |    | ^ |                                | ^ |     |    *</div>
<div class="line"> *   |    | 3 |左摇杆                     右摇杆| 1 |     |    *</div>
<div class="line"> *   | ---     ---                          ---     ---  |    *</div>
<div class="line"> *   |&lt;           2&gt;                       &lt;           0&gt;|    *</div>
<div class="line"> *   | ---     ---                          ---     ---  |    *</div>
<div class="line"> *   |    |   |                                |   |     |    *</div>
<div class="line"> *   |    |   |                                |   |     |    *</div>
<div class="line"> *   |                                                   |    *</div>
<div class="line"> *   -----------------------------------------------------    *</div>
<div class="line"> *                                                            *</div>
<div class="line"> **************************遥控器信息**************************</div>
<div class="line"> *域            通道0      通道1   通道2   通道3   S1     S2  *</div>
<div class="line"> *偏移            0          11      22      33    44     46  *</div>
<div class="line"> *长度(bit)      11          11      11      11     2      2  *</div>
<div class="line"> *符号位         无          无      无      无    无     无  *</div>
<div class="line"> *范围           ***********最大值1684*********    *最大值3*  *</div>
<div class="line"> *               *          中间值1024        *    *最小值1*  *</div>
<div class="line"> *               ***********最小值364**********               *</div>
<div class="line"> *功能                                            1:上   1:上 *</div>
<div class="line"> *                                                2:下   2:下 *</div>
<div class="line"> *                                                3:中   3:中 *</div>
<div class="line"> *                                                            *</div>
<div class="line"> ***************************鼠标信息***************************</div>
<div class="line"> *域         鼠标x轴   鼠标y轴   鼠标z轴   鼠标左键   鼠标右键*</div>
<div class="line"> *偏移         48        64        80        86        94   *</div>
<div class="line"> *长度         16        16        16        8         8    *</div>
<div class="line"> *符号位       有        有        有        无         无   *</div>
<div class="line"> *范围         ******最大值32767*****        ***最大值1***   *</div>
<div class="line"> *             *     最小值-32768   *        ***最小值0***   *</div>
<div class="line"> *             ******静止值0*********                        *</div>
<div class="line"> *功能       ***鼠标在XYZ轴的移动速度***   *鼠标左右键是否按下*</div>
<div class="line"> *           *  负值表示往左移动       *   *    0:没按下      *</div>
<div class="line"> *           ***正值表示往右移动********   *****1:按下*********</div>
<div class="line"> *                                                           *</div>
<div class="line"> *                                                           *</div>
<div class="line"> ***************************键盘信息***************************</div>
<div class="line"> *域              按键                                       *</div>
<div class="line"> *偏移            102                                        *</div>
<div class="line"> *长度            16                                         *</div>
<div class="line"> *符号位          无                                          *</div>
<div class="line"> *范围            位值标识                                    *</div>
<div class="line"> *功能            每个按键对应一个bit                          *</div>
<div class="line"> *                Bit 0:W键                                   *</div>
<div class="line"> *                Bit 1:S键                                   *</div>
<div class="line"> *                Bit 2:A键                                   *</div>
<div class="line"> *                Bit 3:D键                                   *</div>
<div class="line"> *                Bit 4:Shift键                               *</div>
<div class="line"> *                Bit 5:Ctrl键                                *</div>
<div class="line"> *                Bit 6:Q键                                   *</div>
<div class="line"> *                Bit 7:E键                                   *</div>
<div class="line"> *                Bit 8:R键                                   *</div>
<div class="line"> *                Bit 9:F键                                   *</div>
<div class="line"> *                Bit10:G键                                   *</div>
<div class="line"> *                Bit11:Z键                                   *</div>
<div class="line"> *                Bit12:X键                                   *</div>
<div class="line"> *                Bit13:C键                                   *</div>
<div class="line"> *                Bit14:V键                                   *</div>
<div class="line"> *                Bit15:B键                                   *</div>
<div class="line"> **************************************************************/</div>
</div><!-- fragment --><p>目前的映射:</p>
<p>拨轮向下打到底进入紧急停止模式(后续改为关闭遥控器停止,利用daemon; daemon已经模块完成);拨轮向上打开启摩擦轮,超过一半开始发射(速度环,连发)</p>
<p>左侧开关:</p><ul>
<li>上:键鼠控制</li>
<li>中:视觉控制(没有识别到目标的时候仍然可以使用遥控器控制云台)</li>
<li>下:遥控器控制</li>
</ul>
<p>右侧开关:</p><ul>
<li>上:弹舱开</li>
<li>中:底盘云台分离(底盘不旋转,全向移动)</li>
<li>下:底盘跟随云台 </li>
</ul>
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